wip

selfdrive/controls/controlsd.py

@@ -245,7 +245,7 @@ class Controls:
     # Compute actuators (runs PID loops and lateral MPC)
     CC, lac_log = self.state_control(CS)
     CC = self.clearpilot_state_control(CC, CS)
-    
+
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
 
@@ -302,7 +302,7 @@ class Controls:
       self.mismatch_counter += 1
 
     return CS
-  
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -393,7 +393,7 @@ class Controls:
     # CLEARPILOT TODO: Make this a toggle
     # Clearpilot abstract this into a behavior
     NoLaneChange = False
-    if not NoLaneChange:    
+    if not NoLaneChange:
       if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
         direction = self.sm['modelV2'].meta.laneChangeDirection
         if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
@@ -1233,15 +1233,11 @@ class Controls:
     if (len(CS.buttonEvents) > 0):
       print (CS.buttonEvents)
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
-      exit() # Just cause a crash for testing
       self.events.add(EventName.clpDebug)
-      # clearpilot_notice(CP_NOTICE_DEBUG, "LKAS Debug Action Invoked")
-      foo = "bar"
-
 
   def clearpilot_state_control(self, CC, CS):
-    foo = "bar"
-
+    if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
+      CC.cruiseControl.resume = True
     return CC
 
 def main():